version: 66.13
glider: 401
mission: 22
dive: 1620
start: 8 24 117 11 51 31
data:
$ID,401
$MISSION,22
$DIVE,1620
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,60
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,2
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,19
$T_MISSION,32
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,500
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,73198
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5650
$TGT_DEFAULT_LON,-16401
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,-3
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2340
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,20
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2485
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.9827
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,165
$DEVICE3,115
$DEVICE4,134
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044153114
$SEABIRD_T_H,0.00064861565
$SEABIRD_T_I,2.6621732e-05
$SEABIRD_T_J,3.3947326e-06
$SEABIRD_C_G,-10.162049
$SEABIRD_C_H,1.142972
$SEABIRD_C_I,-0.0032838252
$SEABIRD_C_J,0.00030784801
$SEABIRD_C_Z,0
$GPS1,240817,110908,6112.7759,-17351.5469,5,0.9,17,7.0,0.0,104.7,10,4.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-1.1
$GPS2,240817,110908,6112.7759,-17351.5469,5,0.9,17,7.0,0.0,104.7,10,4.4
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W17S
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.348684,0.184430
$KALMAN_X,64150.898438,-643.632690,-260.249359,-264231.375000,141.595306
$KALMAN_Y,-72306.695312,3184.768311,1013.936462,352782.687500,-53.126038
$MHEAD_RNG_PITCHd_Wd,167.3,16407,-11.5,-10.526,-14.94,6951
$D_GRID,60
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,10,-1.78,-487.5,2382,1973,2390,4092,0.0,0.0,0,20,6.10,0.00,-1.52,0.000,20482,0.023,0.000,1787,1973,2554,2554,4095,0,0,0,0,0,0,26.17,28.83,26.21,10.32,53.66
$GC,25,-1.78,-487.5,1787,1973,2554,4095,0.0,0.0,1,35,0.00,0.00,-4.72,0.000,16390,0.000,0.000,1787,1973,3056,3056,4094,0,0,0,0,0,0,26.41,24.68,26.43,10.36,53.11
$GC,73,-1.78,-487.5,1786,1973,3056,4094,3.1,-10.6,7,80,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1973,3057,3057,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.46,53.54
$GC,118,-1.78,-487.5,1787,1973,3058,4095,9.9,-15.5,13,126,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1973,3058,3058,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.47,53.30
$GC,164,-1.78,-487.5,1786,1973,3059,4095,17.2,-16.1,19,174,0.00,1.15,0.00,0.000,516,0.000,0.050,1787,1524,3061,3061,4095,0,0,0,0,0,0,26.44,26.08,26.45,10.47,53.62
$GC,226,-1.78,-487.5,1786,1524,3061,4095,26.1,-14.1,27,235,0.00,0.93,0.00,0.000,1030,0.000,0.028,1787,1925,3061,3061,4094,0,0,0,0,0,0,26.22,26.20,26.24,10.46,52.63
$GC,275,-1.78,-487.5,1786,1924,3062,4094,31.9,-11.8,33,283,0.00,1.15,0.00,0.000,260,0.000,0.044,1787,2364,3063,3063,4094,0,0,0,0,0,0,26.50,26.10,26.51,10.43,52.67
$GC,341,-1.78,-487.5,1786,2364,3064,4094,40.0,-12.0,42,350,0.00,1.10,0.00,0.000,1030,0.000,0.031,1787,1925,3064,3064,4094,0,0,0,0,0,0,26.23,26.19,26.26,10.40,50.23
$GC,389,-1.78,-487.5,1786,1925,3065,4094,45.6,-11.7,48,397,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1925,3065,3065,4095,0,0,0,0,0,0,26.55,26.56,26.55,10.38,49.44
$GC,435,-1.78,-487.5,1786,1925,3066,4095,51.3,-11.8,54,444,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1925,3066,3066,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.38,49.64
$GC,482,-1.78,-487.5,1786,1925,3067,4095,57.2,-12.5,60,491,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1925,3067,3067,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.37,48.62
$STATE,507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,507,begin apogee
$GC,517,-0.45,0.0,1787,2133,3068,4094,60.6,-12.7,63,553,4.28,0.00,28.30,1.328,10244,0.053,0.000,2186,2134,2484,2484,4094,0,0,0,0,0,0,26.21,25.36,24.32,10.37,48.42
$STATE,554,end apogee,CONTROL_FINISHED_OK
$STATE,554,begin climb
$GC,558,1.78,487.5,2186,2133,2484,4094,63.9,0.0,67,603,7.47,0.00,27.67,1.285,11270,0.031,0.000,2892,2133,1920,1920,4094,0,0,0,0,0,0,25.62,25.79,23.91,10.24,47.36
$GC,643,1.78,487.5,2892,2133,1919,4094,57.1,11.9,77,653,0.00,1.12,0.00,0.000,516,0.000,0.044,2892,1713,1919,1919,4095,0,0,0,0,0,0,25.61,25.30,25.63,10.12,46.49
$GC,725,1.78,487.5,2892,1713,1917,4095,46.0,13.5,88,735,0.00,1.02,0.05,0.004,9222,0.000,0.030,2892,2126,1917,1917,4094,0,0,0,0,0,0,25.65,25.61,25.67,10.10,47.20
$GC,775,1.78,487.5,2892,2125,1915,4094,39.2,13.5,94,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2125,1915,1915,4094,0,0,0,0,0,0,26.01,26.02,26.02,10.10,46.92
$GC,824,1.78,487.5,2892,2125,1914,4094,32.7,13.1,100,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2126,1914,1914,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.10,48.03
$GC,872,1.78,487.5,2892,2125,1913,4094,26.4,12.5,106,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2125,1912,1912,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.11,48.34
$GC,920,1.78,487.5,2892,2125,1911,4094,20.5,11.8,112,930,0.00,1.08,0.00,0.000,516,0.000,0.047,2892,1719,1911,1911,4094,0,0,0,0,0,0,26.22,25.84,26.23,10.14,49.25
$GC,1040,1.78,487.5,2892,1719,1908,4094,7.0,11.1,129,1048,0.00,1.02,0.00,0.000,1030,0.000,0.030,2892,2138,1908,1908,4094,0,0,0,0,0,0,26.06,26.03,26.09,10.19,51.73
$STATE,1082,end climb,SURFACE_DEPTH_REACHED
$STATE,1082,begin surface coast
$FINISH,0.5,1.024378
$STATE,1104,end surface coast,CONTROL_FINISHED_OK
$STATE,1104,begin surface
$SM_CCo,1208,0.00,0.000,0,0,1906,497.13
$SM_GC,0.97,27.77,0.47,0.00,0.021,0.037,0.000,230,1949,1906,-6.59,1.41,497.13,0,0,0,0,0,0,26.04,26.10,26.11
$IRIDIUM_FIX,6149.06,-17422.35,240817,095435
$TT8_MAMPS,0.025466,0.257656
$HUMID,52.59
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,23.91,46.018
$10V_AH,10.14,45.261
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,45.625,10.150,56.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,399.549,60.380,137.098,573.461,104.525,0.000,359.133,0.000,335.976,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,49.725,1328.040,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.344,374.935,296.748,439.795,571.740,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330668
$DATA_FILE_SIZE,14267,138
$CAP_FILE_SIZE,27775,0
$CFSIZE,1024409600,939884544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240817,121234,6111.844,-17351.773,8,0.9,13,7.0,0.0,223.8,10,4.9